相关论文: Is a 3D-Tokenized LLM the Key to Reliable Autonomo…

Recent advances have explored integrating large language models (LLMs) into end-to-end autonomous driving systems to enhance generalization and interpretability. However, most existing approaches are limited to either driving performance or…

The autonomous driving community is increasingly focused on addressing the challenges posed by out-of-distribution (OOD) driving scenarios. A dominant research trend seeks to enhance end-to-end (E2E) driving systems by integrating…

While 3D Multi-modal Large Language Models (MLLMs) demonstrate remarkable scene understanding capabilities, their practical deployment faces critical challenges due to computational inefficiency. The key bottleneck stems from processing…

LiDAR is crucial for robust 3D scene perception in autonomous driving. LiDAR perception has the largest body of literature after camera perception. However, multi-task learning across tasks like detection, segmentation, and motion…

Large Language Models (LLMs) have showcased remarkable proficiency in various information-processing tasks. These tasks span from extracting data and summarizing literature to generating content, predictive modeling, decision-making, and…

Ensuring safe decision-making in autonomous vehicles remains a fundamental challenge despite rapid advances in end-to-end learning approaches. Traditional reinforcement learning (RL) methods rely on manually engineered rewards or sparse…

Autonomous driving has the potential to set the stage for more efficient future mobility, requiring the research domain to establish trust through safe, reliable and transparent driving. Large Language Models (LLMs) possess reasoning…

Autonomous driving systems depend on on models that can reason about high-level scene contexts and accurately predict the dynamics of their surrounding environment. Vision- Language Models (VLMs) have recently emerged as promising tools for…

The advent of Vision-Language Models (VLMs) has significantly advanced end-to-end autonomous driving, demonstrating powerful reasoning abilities for high-level behavior planning tasks. However, existing methods are often constrained by a…

Current autonomous driving vehicles rely mainly on their individual sensors to understand surrounding scenes and plan for future trajectories, which can be unreliable when the sensors are malfunctioning or occluded. To address this problem,…

Visual target navigation in unknown environments is a crucial problem in robotics. Despite extensive investigation of classical and learning-based approaches in the past, robots lack common-sense knowledge about household objects and…

Multimodal Large Language Models (MLLMs) have made impressive progress in connecting vision and language, but they still struggle with spatial understanding and viewpoint-aware reasoning. Recent efforts aim to augment the input…

Scene understanding and risk-aware attentions are crucial for human drivers to make safe and effective driving decisions. To imitate this cognitive ability in urban autonomous driving while ensuring the transparency and interpretability, we…

The advances in vision-language models (VLMs) have led to a growing interest in autonomous driving to leverage their strong reasoning capabilities. However, extending these capabilities from 2D to full 3D understanding is crucial for…

The advances in vision-language models (VLMs) have led to a growing interest in autonomous driving to leverage their strong reasoning capabilities. However, extending these capabilities from 2D to full 3D understanding is crucial for…

The utilization of Large Language Models (LLMs) within the realm of reinforcement learning, particularly as planners, has garnered a significant degree of attention in recent scholarly literature. However, a substantial proportion of…

3D lane detection from monocular images is a fundamental yet challenging task in autonomous driving. Recent advances primarily rely on structural 3D surrogates (e.g., bird's eye view) built from front-view image features and camera…

While current multimodal models can answer questions based on 2D images, they lack intrinsic 3D object perception, limiting their ability to comprehend spatial relationships and depth cues in 3D scenes. In this work, we propose N3D-VLM, a…

With the growing adoption of vision-language-action models and world models in autonomous driving systems, scalable image tokenization becomes crucial as the interface for the visual modality. However, most existing tokenizers are designed…

Vision language models (VLMs) can flexibly address various vision tasks through text interactions. Although successful in semantic understanding, state-of-the-art VLMs including GPT-5 still struggle in understanding 3D from 2D inputs. On…